JP2018100918A - Robot, encoder, method for adjusting encoder, and printer - Google Patents

Abstract

A robot, an encoder, an encoder adjustment method, and a printing apparatus capable of achieving both high accuracy and low cost are provided. A robot includes a first arm, a second arm disposed so as to be rotatable with respect to the first arm, and an encoder 10 disposed on the first arm. The encoder 10 is configured to detect a rotation state and output an analog signal, and the detection units 12 and 14. , 18 for converting analog signals from digital signals to digital signals, terminal portions 32 for inputting reference signals from the outside, and digital signals output from the converters 22, 24 per rotation. The control unit 28 calculates an output signal, obtains a difference between the output signal and the reference signal input by the terminal unit 32, and generates correction data for the output signal. [Selection] Figure 1

Description

  The present invention relates to a robot, an encoder, an encoder adjustment method, and a printing apparatus.

  The synchronous motor can generate torque by passing a current to a position having a certain angle with respect to the magnetic pole position of the rotor. For this reason, it is necessary to know the positional relationship between the magnetic pole position of the rotor and the stator through which current flows. Normally, the phase is detected by taking a pulse generated by a pulse generator such as an encoder attached to a rotor of an electric motor into a phase detector composed of a counter or the like and detecting the phase.

  Conventionally, an optical rotary encoder that detects a rotation angle from an analog signal output from a light receiving element has been disclosed (see, for example, Patent Document 1).

JP 60-164213 A

  However, in the optical disk method of Patent Document 1, when detecting an absolute angle during one rotation with high accuracy and high resolution even at high speed rotation, a high accuracy disk, a high resolution optical sensor, and high analog processing capability are used. Therefore, an electronic circuit having a large number of parts is required, parts are very expensive, and high technology is required.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

  [Application Example 1] A robot according to this application example includes a first arm, a second arm disposed so as to be rotatable with respect to the first arm, and an encoder disposed on the first arm. A driving device that transmits a driving force that rotates with respect to the first arm to the second arm, and the encoder detects a rotation state and outputs an analog signal; and A conversion unit that converts the analog signal from the detection unit into a digital signal; a terminal unit that inputs an external reference signal; and an output signal per rotation calculated from the digital signal output from the conversion unit, And a control unit that determines a difference between the output signal and the reference signal input to the terminal unit and generates correction data for the output signal.

  According to this application example, it is possible to have a mechanism for correcting the reference signal. Thereby, it can comprise with an inexpensive component. As a result, it is possible to achieve both high accuracy and low cost.

  Application Example 2 In the robot according to the application example, it is preferable that the encoder includes a storage unit that stores the correction data.

  According to this application example, a correction mechanism can be easily provided.

  Application Example 3 In the robot according to the application example described above, it is preferable that the reference signal is a phase count signal from a reference encoder connected to the terminal unit.

  According to this application example, the reference signal can be easily input.

  Application Example 4 In the robot according to the application example, it is preferable that the detection unit includes a light receiving element.

  According to this application example, an optical encoder can be configured.

  Application Example 5 An encoder according to this application example includes a detection unit that detects a rotation state and outputs an analog signal, a conversion unit that converts the analog signal from the detection unit into a digital signal, and an external device. The reference signal is input from the terminal unit, and the output signal per rotation is calculated from the digital signal output from the conversion unit, and the deviation between the output signal and the reference signal input from the terminal unit is calculated. And a control unit that generates correction data for the output signal.

  According to this application example, it is possible to have a mechanism for correcting the reference signal. Thereby, it can comprise with an inexpensive component. As a result, it is possible to achieve both high accuracy and low cost.

  Application Example 6 An encoder adjustment method according to this application example is a method for adjusting an encoder of a motor having the encoder described above, wherein a reference encoder is attached to the motor, and the terminal portion of the encoder is attached. Connecting the reference encoder, connecting the motor and the encoder to a PC, outputting a drive signal from the PC to the motor, inputting a signal of the reference encoder to the encoder, Generating the correction data.

  According to this application example, it is possible to have a mechanism for correcting the reference signal. Thereby, it can comprise with an inexpensive component. As a result, it is possible to achieve both high accuracy and low cost.

  Application Example 7 A printing apparatus according to this application example includes the encoder described above.

  According to this application example, both high accuracy and low cost can be achieved.

The block diagram of the drive control system which concerns on this embodiment. Explanatory drawing of the 1st detection signal and 2nd detection signal which concern on this embodiment. Explanatory drawing of the adjustment ratio parameter | index which concerns on this embodiment. Explanatory drawing of the reference value which concerns on this embodiment. Explanatory drawing of the identification of the reference value in the position specific part which concerns on this embodiment. The flowchart which shows the adjustment method of the rotary encoder which concerns on this embodiment. 1 is a schematic configuration diagram of a laser scanner device to which a drive control system according to an embodiment is applied. The schematic block diagram of the robot to which the drive control system which concerns on this embodiment is applied. 1 is an external front view schematically showing a configuration example 1 (image recording apparatus) of a printing apparatus to which a drive control system according to an embodiment is applied. FIG. 3 is an external front view schematically showing a configuration example 2 (printer) of a printing apparatus to which the drive control system according to the embodiment is applied.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, embodiments of the invention will be described with reference to the drawings. Note that the drawings to be used are appropriately enlarged or reduced so that the part to be described can be recognized.

A drive control system 1 as a drive device according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a configuration diagram of a drive control system 1 for a motor M according to the present embodiment.
The drive control system 1 of this embodiment includes a motor M, a rotary encoder 10 as an encoder, a position detection device 20, a control circuit 30, and a drive circuit 40. In the drive control system 1, the position detection device 20 detects the position (rotation angle) of the motor M, and adjusts the drive voltage supplied to the motor M according to the detected position and the target position.

  The motor M is, for example, a stepping motor that operates according to a predetermined drive voltage (pulse). The motor M includes a rotor (rotor) R. The rotor R rotates with a predetermined angle as one step each time a pulse is supplied to the coil. The rotation angle (step angle) of the rotor R is determined according to the number of pulses. That is, by adjusting the number of pulses supplied to the rotor R, the rotor R can be positioned at a desired rotation angle. The position detection device 20 detects the position (rotation angle) X of the rotor R.

  The rotary encoder 10 outputs a detection signal corresponding to the position of the rotor R. As illustrated in FIG. 1, the rotary encoder 10 includes a light emitting unit 12 as a detection unit, a disk 14, a light receiving unit 18 (18 </ b> A, 18 </ b> B), and a position detection device 20.

The center of the disk 14 is fixed to the rotation axis A of the rotor R, and rotates in conjunction with the rotation of the rotor R. Slits 16 are formed on the periphery of the disk 14 at predetermined angles. The slit 16 transmits light. The light emitting unit 12 and each light receiving unit 18 are arranged at positions facing each other with the disk 14 interposed therebetween. The light emitting unit 12 is a light emitting element such as an LED (Light Emitting Diode), for example, and irradiates light toward the disk 14. The light receiving unit 18 is a light receiving element such as a photodiode, for example, and outputs voltage signals (first detection signal S _A and second detection signal S _B ) corresponding to the amount of received light. According to this, the rotary encoder 10 can be configured as an optical encoder. The light receiving unit 18 detects the rotation state and outputs an analog signal (sine wave) to the position detection device 20. The rotary encoder 10 of the present embodiment includes a light receiving unit 18A and a light receiving unit 18B. The light receiving unit 18A outputs a first detection signal S _A, the light receiving unit 18B outputs a second detection signal S _B.

Figure 2 is an illustration of a first detection signal S _A and the second detection signal S _B according to the present embodiment.
A first detection signal S _A and the second detection signal S _B, the voltage value fluctuates in conjunction with the position X of the rotor R. Specifically, the amount of light received by the light receiving unit 18 is switched by alternately switching the state where the light emitted from the light emitting unit 12 is transmitted through the slit 16 and the state where it is shielded by the disk 14 with the rotation of the rotor R. Periodically varies, the first detection signal S _A and the second detection signal S _B whose voltage values periodically vary in conjunction with the rotation of the rotor R are output from the light receiving unit 18. The first detection signal S _A and the second detection signal S _B is precisely not a sine wave, the notation of the drawing, is shown as a convenient sinusoidal in FIG. As illustrated in FIG. 2, the first detection signal S _A and the second detection signal S _B have a phase difference from each other. Specifically, the light receiving unit 18A and the light receiving unit 18B are arranged so that the phase difference between the first detection signal S _A and the second detection signal S _B is π / 2 (90 °). Installed at different positions along the line.

The position detection device 20 in FIG. 1 specifies the position X of the rotor R using the first detection signal S _A and the second detection signal S _B and outputs a detection position signal S _X indicating the position X. As illustrated in FIG. 1, the position detection device 20 includes a difference calculation unit 22 and a ratio calculation unit 24 as a conversion unit, a storage unit 25, a determination unit 26, a position specifying unit 28 as a control unit, and a terminal. And the unit 32. A reference signal is input to the terminal unit 32 from the external reference encoder 2.

  The reference signal is preferably a phase counting signal from the reference encoder 2 connected to the terminal unit 32. According to this, the reference signal can be easily input.

  The reference encoder 2 detects an absolute angle during one rotation with high accuracy and high resolution even during high-speed rotation. The reference encoder 2 is composed of a high-precision disk, a high-resolution optical sensor, and an electronic circuit having high analog processing capability.

The difference calculation unit 22 and the ratio calculation unit 24 convert the analog signal (sine wave) from the light receiving unit 18 into a digital signal (rectangular wave). The position specifying unit 28 is an index (hereinafter referred to as “adjustment ratio index”) W for specifying the position X of the rotor R as an output signal per rotation from the digital signals output from the ratio calculation unit 24 and the determination unit 26. Is calculated. The position specifying unit 28 obtains a deviation between the adjustment ratio index W and the phase counting counter calculated by the counter 34 from the reference signal input from the terminal unit 32, and detects the position X of the rotor R as an output signal. Reference values (examples of correspondence information) W _REF corresponding to different positions X of the rotor R as the correction data of the position signal S _X are generated.

The storage unit 25 is a unit that stores information used for specifying the position X, and is configured of a known recording medium such as a semiconductor recording medium. Storage unit 25 of the present embodiment, the center voltage V _BC of the center voltage V _AC and the second detection signal S _B of the first detection signal S _A, the reference values corresponding to different positions X of the rotor R (association information Ex) W _REF is stored. According to this, it is possible to easily have a mechanism for correcting. The center voltage V _BC of the center voltage V _AC and the second detection signal S _B of the first detection signal S _A is, for example, be measured in an individual basis before shipment of the drive control system 1 is stored in the storage unit 25.

The reference value W _REF is stored in the storage unit 25 at the manufacturing stage using the phase count signal from the reference encoder 2. The position detection device 20 includes a dedicated terminal unit 32 to which the phase counting signal from the reference encoder 2 is input. The position detection device 20 includes a terminal unit 32 for inputting a signal from the reference encoder 2 for correction, and a counter 34 as a counting function. The reference value W _{REF in the} storage unit 25 may have a correction value in a table.

Difference calculation unit 22, as shown in FIG. 2, the voltage value V _A of the first detection signal S _A, and the center voltage V _AC of the first detection signal S _A, the difference value (hereinafter, "first difference value ΔV _A is calculated. Further, the difference calculating unit 22, as shown in FIG. 2, the voltage value V _B of the second detection signal S _B, and the center voltage V _BC of the second detection signal S _B, the difference (hereinafter "second difference ΔV _B is calculated. The difference calculation unit 22 outputs the calculated first difference value ΔV _A and second difference value ΔV _B to the ratio calculation unit 24 and the determination unit 26, respectively.

The ratio calculation unit 24 calculates an addition / subtraction ratio index W for specifying the position X of the rotor R by calculation using the first difference value ΔV _A and the second difference value ΔV _B calculated by the difference calculation unit 22. . Specifically, the ratio calculation unit 24, the absolute value of the first difference value ΔV _A | ΔV _A | and the absolute value of the second difference value ΔV _B | ΔV _B | and the difference value between the first difference value [Delta] V _A [Delta] V _a | | calculates the acceleration ratio indicators corresponding to the ratio between the sum of the W (illustrated ratio) | and the absolute value of the second difference value ΔV _B | ΔV _B the absolute value of. In the present embodiment, the ratio of the difference value between the absolute value | ΔV _A | and the absolute value | ΔV _B | is calculated as the addition / subtraction ratio index W. The ratio calculation unit 24 outputs the addition / subtraction ratio index W calculated by the ratio of the difference value between the absolute value | ΔV _A | and the absolute value | ΔV _B | to the position specifying unit 28.

FIG. 3 is an explanatory diagram of the adjustment ratio index W according to the present embodiment.
As illustrated in FIG. 3, the adjustment ratio index W calculated by the above method is linked to the first difference value ΔV _A and the second difference value ΔV _B (specifically, the difference between the two) − It fluctuates periodically within the range of 1 to 1.

The determination unit 26 in FIG. 1 determines whether each of the first difference value ΔV _A and the second difference value ΔV _B is positive or negative. In the present embodiment, the range of the position X of the rotor R (the range corresponding to one cycle of the first detection signal S _A or the second detection signal S _B illustrated in FIG. 2) is as illustrated in FIG. The first difference value ΔV _A and the second difference value ΔV _B can be divided into four ranges r (r1 to r4) in which the positive and negative combinations are different. Specifically, (1) when the position X of the rotor R is within the range r1, both the first difference value ΔV _A and the second difference value ΔV _B are positive numbers, and (2) the position X of the rotor R Is within the range r2, the first difference value ΔV _A is a positive number and the second difference value ΔV _B is a negative number. (3) When the position X of the rotor R is within the range r3, both the first difference value ΔV _A and the second difference value ΔV _B are negative numbers, and (4) the position X of the rotor R is within the range r4. In this case, the first difference value ΔV _A is a negative number and the second difference value ΔV _B is a positive number. Therefore, by determining the positive / negative combination of the first difference value ΔV _A and the second difference value ΔV _B , one range r to which the position X of the rotor R belongs can be specified from the plurality of ranges r1 to r4. It is.

The position specifying unit 28 depends on the addition / subtraction ratio index W calculated by the ratio calculation unit 24 and the result of determination by the determination unit 26 (positive or negative of each of the first difference value ΔV _A and the second difference value ΔV _B ). The position X of the rotor R is specified. Specifically, the position specifying unit 28 first corresponds to a positive / negative combination of the first difference value ΔV _A and the second difference value ΔV _B calculated by the difference calculation unit 22 among the plurality of ranges r1 to r4. One range (hereinafter referred to as “target range”) r is specified. Specifically, as understood from FIG. 3, when both the first difference value ΔV _A and the second difference value ΔV _B are positive numbers, the range r1 is specified as the target range r, and the first difference value When ΔV _A is a positive number and the second difference value ΔV _B is a negative number, the range r2 is specified as the target range r, and both the first difference value ΔV _A and the second difference value ΔV _B are negative numbers. Range r3 is specified as the target range r. If the first difference value ΔV _A is a negative number and the second difference value ΔV _B is a positive number, the range r4 is specified as the target range r.

Secondly, the position specifying unit 28 of the present embodiment specifies the position X of the rotor R in accordance with the adjustment ratio index W within the target range r. Specifically, the position specifying unit 28 specifies the position X of the rotor R by comparing the reference value W _REF stored in the storage unit 25 with the adjustment ratio index W.

FIG. 4 is an explanatory diagram of the reference value W _{REF according} to the present embodiment.
A plurality of reference values W _REF (W _REF 1, W _REF 2, W _REF 3, W _REF 4, W _REF 5,...) Corresponding to different positions X (x1, x2, x3, x4, x5...) In the range r. ) Is stored in the storage unit 25.

The number of reference values W _REF stored in the storage unit 25 is set, for example, according to the multiplication number N (N = 2 ^K , 2 ^K : resolution) of the rotary encoder 10. 4 exemplifies a configuration in which reference values (W _REF 1, W _REF 2, W _REF 3, W _REF 4, W _REF 5) are set for each section obtained by dividing the range r1 by a multiplication factor N for convenience of explanation. However, the multiplication number N (resolution of the rotary encoder 10) is variably controlled. As understood from the above description, the detection accuracy of the position X of the rotor R can be improved as the multiplication number N increases. The reference value W _REF stored in the storage unit 25 is, for example, an absolute value | ΔV _{A obtained} by applying a standard value (ideal value) of the first detection signal S _{A and} a standard value of the second detection signal S _B. It can be set to a numerical value calculated by the ratio of the difference value between the absolute value | ΔV _B |

FIG. 5 is an explanatory diagram of specifying the reference value W _REF in the position specifying unit 28 according to the present embodiment.
The position specifying unit 28 compares each reference value W _REF in the target range r with the addition / subtraction ratio index W calculated by the ratio calculation unit 24 to obtain one reference value (hereinafter referred to as “target reference value”) W _REF. Is identified. Specifically, the closest one of the reference value W _REF to acceleration ratio indicators W among the plurality of reference values W _REF are specified as target reference value W _REF. For example, as illustrated in FIG. 5, when the adjustment ratio index W is positioned between the reference value W _REF 1 and the reference value W _REF 2 that are in succession within the target range r (= r 1), the adjustment is performed. The one with the smaller difference from the ratio index W is specified as the target reference value W _REF . Specifically, compared with the difference between the reference value W _REF 1 and acceleration ratio indicators W [W _REF 1-W], the difference [W _REF 2-W] of a reference value W _REF 2 and acceleration ratio indicators W and Then, the reference value W _REF 1 having a small difference value is specified as the target reference value W _REF . The position specifying unit 28 specifies one position X corresponding to the target reference value W _REF as the position X of the rotor R among a plurality of positions X corresponding to different reference values W _REF within the target range r. Specifically, a detected position signal S _X indicating the current position X of the rotor R is output to the control circuit 30. As understood from the above description, the reference value W _REF corresponding to the different position X of the rotor R represents the correspondence between the position of the rotor R (moving body) and the adjustment ratio index W (ratio).

Although the reference value W _REF has been specifically described, the reference value W _REF is not limited to this, and the reference value W _REF can be replaced with an arbitrary value configuration having the same function. .

The control circuit 30 in FIG. 1 calculates the number of drive pulses necessary to rotate the rotor R to the target position from the detected position signal S _X output by the position specifying unit 28 and notifies the drive circuit 40 of the number. . The drive circuit 40 is, for example, an oscillation circuit, generates the number of drive pulses notified from the control circuit 30, and supplies it to the motor M.

Due to various factors error of the rotational speed of the manufacturing error and the rotor R of the slit in the disk, the first detection signal S _A and the voltage amplitude of the second detection signal S _B (especially peak-to-peak value) of the error And fluctuations are likely to occur. On the other hand, the center voltage V _BC of the center voltage V _AC or the second detection signal S _B of the first detection signal S _A, there is a tendency that an error or fluctuation hardly occurs as compared to the voltage amplitude. In the present embodiment, the position X of the rotor R by using the acceleration ratio indicators W calculated according to the center voltage V _AC of the first detection signal S _A and the center voltage V _BC of the second detection signal S _B is the specific Is done. Therefore, it is possible to detect the position X of the rotor R with higher accuracy as compared with the conventional configuration in which the position of the rotor R is detected using the voltage amplitude (for example, peak-to-peak value) of the detection signal.

In the present embodiment, the positive / negative combination of the first difference value ΔV _A and the second difference value ΔV _B among the plurality of ranges r1 to r4 within one cycle of the first detection signal S _A and the second detection signal S _B. Accordingly, the target range r is specified, and the position X of the rotor R is specified within the target range r. Therefore, the position X of the rotor R can be specified in detail as compared with the configuration in which the range of the position X of the rotor R is not limited. Furthermore, in this embodiment, there is also an advantage that the position X of the rotor R can be easily specified by comparing the reference value W _{REF for} each position X with the adjustment ratio index W.

FIG. 6 is a flowchart showing a method for adjusting the rotary encoder 10 according to the present embodiment.
The adjustment method of the rotary encoder 10 according to the present embodiment is an adjustment method of the rotary encoder 10 of the motor M having the rotary encoder 10 described above.

  First, in step S10, the reference encoder 2 is attached to the motor M as shown in FIG.

  Next, in step S <b> 20, the reference encoder 2 is connected to the terminal portion 32 of the rotary encoder 10.

  Next, in step S <b> 30, a PC (personal computer) (not shown) is connected to the motor M and the rotary encoder 10.

  Next, in step S40, the PC outputs a drive signal to the motor M.

  Next, in step S50, the signal of the reference encoder 2 is input to the rotary encoder 10. The rotary encoder 10 and the reference encoder 2 capture each signal at a synchronized timing.

Next, in step S60, the rotary encoder 10 generates a reference value W _REF . Then, the rotary encoder 10 stores the reference value W _REF in the storage unit 25. Note that the reference value W _REF may be generated on an external PC.

  According to the present embodiment, it is possible to have a mechanism for correcting with a reference signal. Thereby, it can comprise with an inexpensive component. As a result, it is possible to achieve both high accuracy and low cost.

  Further, even if the rotary encoder 10 is not highly accurate, a high absolute angle system and resolution can be obtained. In addition, since the position detection device is realized by a low-cost PC (general-purpose microcomputer), initial costs and variable costs can be reduced.

<Electronic equipment>
Hereinafter, an example of an electronic apparatus to which the motor M according to the above-described embodiment and the position detection device 20 are applied will be described.

<Laser scanner device>
FIG. 7 is a diagram illustrating a configuration example of the laser scanner device 7 to which the drive control system 1 according to the above-described embodiment is applied.
The laser scanner device 7 can be used for cutting out printed materials such as labels. The laser scanner device 7 includes a laser oscillator 401, an irradiation optical system (first lens 403, second lens 405, first mirror 407, second mirror 409), and a plurality of drive control systems 1 (exemplified in the above-described embodiment). 1A, 1B, 1C). The laser beam LA emitted from the laser oscillator 401 undergoes refraction by the first lens 403, condensing by the second lens 405, and reflection by the first mirror 407 and the second mirror 409, and then the surface of the workpiece 415. To converge to one point. The workpiece 415 is a sheet-like member, and is wound around the transport body 413 while being sent out by the rotation of the transport body 411.

  The drive control system 1A corresponds to the first lens 403, the drive control system 1B corresponds to the first mirror 407, and the drive control system 1C corresponds to the second mirror 409. The rotation axis of the motor M (see FIG. 1) of the drive control system 1A is connected to the first lens 403, and the position of the first lens 403 is adjusted in conjunction with the rotation of the rotor R. The rotation axis of the motor M of the drive control system 1B is connected to the first mirror 407, and the angle of the first mirror 407 is adjusted in conjunction with the rotation of the rotor R. Similarly, the rotation axis of the motor M of the drive control system 1C is connected to the second mirror 409, and the angle of the second mirror 409 is adjusted in conjunction with the rotation of the rotor R.

  Then, each motor M is controlled by the drive control system 1 (1A, 1B, 1C), so that the laser beam LA can be irradiated to a desired position on the workpiece 415. Thereby, as shown in FIG. 7, the laser scanner device 7 can accurately irradiate the laser beam LA on the processing line 500 indicating the planned position of the laser processing on the surface of the workpiece 415.

  As described above, the laser scanner device 7 is exemplified as the electronic device including the motor M and the position detection device 20 according to the above-described embodiment. However, the electronic device to which the motor M and the position detection device 20 according to the embodiment are applied is as described above. It is not limited to the illustrated laser scanner device 7. As the electronic apparatus of the present invention, for example, a servo motor, an NC processing machine, a 3D printer, and the like can be exemplified as suitable examples.

<Robot>
Next, the robot 8 to which the motor M according to the above-described embodiment and the position detection device 20 are applied will be described. As an example of the robot, a vertical articulated robot (six axes) is shown below, but the robot is not limited to these, and may be a double-arm robot or other multi-axis robot.

FIG. 8 is a diagram illustrating a configuration example of the robot 8 to which the drive control system 1 according to the above-described embodiment is applied.
As illustrated in FIG. 8, the robot 8 includes a base 81, a plurality of arms 82 (82 </ b> A, 82 </ b> B, 82 </ b> C, 82 </ b> D) as first and second arms, and a vertical articulated robot including a wrist 86. It is. Each of the plurality of arms 82 is sequentially connected via a rotation shaft (joint), and the drive control system 1 according to the above-described embodiment is installed on each rotation shaft. A motor M (not shown in FIG. 8) of the drive control system 1 rotates the arm 82 on one side of the rotation shaft with respect to the arm on the other side. Of the plurality of arms 82 (82A, 82B, 82C, 82D), the base end side arm 82A is rotatably supported with respect to the base 81, and the front end side arm 82D can rotate the wrist 86. Supported by The motor M of the drive control system 1 installed in the base 81 rotates the arm 82A relative to the base 81, and the motor M of the drive control system 1 installed in the arm 82D (first arm) is a wrist. 86 (second arm) is rotated. The front end surface of the wrist 86 is a mounting surface on which a manipulator that holds a precision device such as a wristwatch is mounted. Note that the position of the drive control system 1 is not limited to the arm 82D, and the drive control system 1 may be disposed on another arm and may rotate the other arm disposed via the joint. The list 86 is one of the arms and is expressed as a list for convenience because it rotates like a wrist.

  According to the robot 8 described above, the rotational position of the motor M for controlling the rotational positions of the four arms 82A, 82B, 82C, and 82D and the wrist 86 can be controlled in detail. Therefore, the robot 8 can move the wrist 86 to a desired position with higher position accuracy and rotation accuracy.

  According to the present embodiment, it is possible to have a mechanism for correcting with a reference signal. Thereby, it can comprise with an inexpensive component. As a result, it is possible to achieve both high accuracy and low cost.

<Printing device>
Hereinafter, an example of a printing apparatus including the laser scanner device 7 to which the above-described drive control system 1 (1A, 1B, 1C) is applied will be described. In the following description, components similar to those of the laser scanner device 7 described above are denoted by the same reference numerals, and the description thereof may be simplified or omitted. In the following drawings, the scale of each layer and each member is shown different from the actual scale so that each layer and each member can be recognized.

<Configuration Example 1 of Printing Apparatus>
First, as a configuration example 1 of a printing apparatus including a laser scanner device 7 to which the above-described drive control system 1 (1A, 1B, 1C) is applied, an image recording apparatus 100 which is a label printing apparatus including a drum-shaped platen. explain.

FIG. 9 is a front view schematically showing the image recording apparatus 100 including the laser scanner device 7 to which the drive control system 1 (1A, 1B, 1C) according to the embodiment described above is applied.
As shown in FIG. 9, in the image recording apparatus 100, one sheet S (web) whose both ends are wound around a feed shaft 120 and a take-up shaft 140 in a roll shape as a recording medium is fed to the feed shaft 120 and the winding shaft. The sheet S is stretched between the take-up shaft 140 and the sheet S is transported from the feed shaft 120 to the take-up shaft 140 along the transport path Sc thus stretched. The image recording apparatus 100 is configured to record (form) an image on the sheet S by discharging functional liquid onto the sheet S conveyed along the conveyance path Sc. The sheet S is not particularly limited. A paper structure, a film system, or the like, or a multilayer structure in which these layers are bonded together via an adhesive (for example, a base material of a seal piece) can be applied. For example, paper-based materials include high-quality paper, cast paper, art paper, and coated paper, and film-based materials include synthetic paper, PET (Polyethylene terephthalate), and PP (Polypropylene).

  The image recording apparatus 100 includes, as a schematic configuration, a feeding unit 102 that feeds a sheet S from a feeding shaft 120, a processing unit 103 that records an image on the sheet S fed from the feeding unit 102, and A laser scanner device 7 that cuts out the recorded sheet S and a winding unit 104 that winds the sheet S around a winding shaft 140 are configured. In the following description, among both surfaces of the sheet S, the surface on which an image is recorded may be referred to as the front surface, and the opposite surface may be referred to as the back surface.

  The feeding unit 102 includes a feeding shaft 120 around which the end of the sheet S is wound, and a driven roller 121 around which the sheet S drawn from the feeding shaft 120 is wound. The feeding shaft 120 supports the end of the sheet S by winding it with the surface of the sheet S facing outward. Then, when the feeding shaft 120 rotates clockwise in FIG. 9, the sheet S wound around the feeding shaft 120 is fed to the process unit 103 via the driven roller 121. Incidentally, the sheet S is wound around the feeding shaft 120 via a core tube (not shown) that is detachable from the feeding shaft 120. Therefore, when the sheet S of the feeding shaft 120 is used up, a new core tube around which the roll-shaped sheet S is wound can be attached to the feeding shaft 120 and the sheet S of the feeding shaft 120 can be replaced. It has become.

  The process unit 103 supports the sheet S fed from the feeding unit 102 by a platen drum 130 as a support unit, and the recording head 151 and the like disposed in a head unit 115 disposed along the outer peripheral surface of the platen drum 130. Thus, an appropriate process is performed to record an image on the sheet S.

  The platen drum 130 is a cylindrical drum that is rotatably supported around a drum shaft 130s by a support mechanism (not shown), and winds the sheet S conveyed from the feeding unit 102 to the winding unit 104 from the back side. It is hung. The platen drum 130 supports the sheet S from the back side while receiving the frictional force between the plate S and rotating in the conveyance direction Ds of the sheet S. Incidentally, the process unit 103 is provided with driven rollers 133 and 134 that fold back the sheet S on both sides of the winding part around the platen drum 130. Among these, the driven roller 133 wraps the surface of the sheet S between the driven roller 121 and the platen drum 130 and folds the sheet S. On the other hand, the driven roller 134 wraps the surface of the sheet S between the platen drum 130 and the driven roller 141 and folds the sheet S. In this way, by folding the sheet S on the upstream and downstream sides in the transport direction Ds with respect to the platen drum 130, the length of the portion Ra where the sheet S is wound around the platen drum 130 can be ensured long. Note that an edge sensor Se that detects an end of the other driven roller 131 or the sheet S in the width direction may be disposed between the driven roller 121 and the driven roller 133. Further, another driven roller 132 may be disposed between the driven roller 134 and the driven roller 141.

  The process unit 103 includes a head unit 115, and a recording head 151 is disposed in the head unit 115. In the present embodiment, a plurality of recording heads 151 corresponding to different colors are provided, for example, four recording heads 151 corresponding to yellow, cyan, magenta, and black are provided. Each recording head 151 is opposed to the surface of the sheet S wound around the platen drum 130 with a slight clearance (platen gap), and discharges the corresponding color functional liquid from the nozzles by an ink jet method. . Then, each recording head 151 discharges the functional liquid onto the sheet S conveyed in the conveyance direction Ds, whereby a color image is formed on the surface of the sheet S.

  In the present embodiment, UV (ultraviolet) ink (photocurable ink) that is cured by irradiating with ultraviolet rays (light) is used as the functional liquid. Therefore, the head unit 115 of the process unit 103 is provided with a first UV light source 161 (light irradiation unit) in order to temporarily cure the UV ink and fix it to the sheet S. A first UV light source 161 for temporary curing is disposed between each of the plurality of recording heads 151. That is, the first UV light source 161 cures (temporarily cures) the UV ink to such an extent that the shape of the UV ink does not collapse by irradiating weak ultraviolet rays. On the other hand, a second UV light source 162 as a curing unit for main curing is provided on the downstream side in the transport direction Ds with respect to the plurality of recording heads 151 (head units 115). That is, the second UV light source 162 completely cures (mainly cures) the UV ink by irradiating ultraviolet rays stronger than the first UV light source 161. By performing the temporary curing and the main curing in this manner, the color image formed by the plurality of recording heads 151 can be fixed on the surface of the sheet S.

  The laser scanner device 7 is provided so as to partially cut out or divide the sheet S on which an image is recorded. Since the configuration of the laser scanner device 7 is the same as the configuration described above (see FIG. 7), detailed description thereof is omitted.

  The laser light LA oscillated by the laser oscillator 401 of the laser scanner device 7 is controlled by the first lens 403 whose position is controlled by the drive control system 1A and the rotation position (angle) of which is controlled by the drive control systems 1B and 1C. The sheet S, which is a workpiece, is irradiated through the first mirror 407, the second mirror 409, and the like. Thus, the irradiation position of the laser light LA irradiated onto the sheet S is controlled by the drive control systems 1A, 1B, and 1C, and the laser light LA can be irradiated onto a desired position on the sheet S. In the sheet S, a portion irradiated with the laser light LA is melted and cut out or partially cut.

  In addition, the part cut out or divided by the laser beam LA may be discharged and stored in a storage unit by a discharge unit (not shown) after fusing, or the winding shaft is held on the substrate by the adhesive of the sheet S 140 may be conveyed.

  Further, in this configuration, the example in which the sheet S is cut out or divided after the image is recorded by fusing using the laser scanner device 7 is not limited to this. It may be configured to cut out or divide the position.

  According to the image recording apparatus 100 described above, the position of the rotor R of the motor M in the drive control systems 1A, 1B, and 1C for controlling the irradiation position of the laser beam LA can be controlled with high accuracy. Therefore, the image recording apparatus 100 can cut out or divide the sheet S with high positional accuracy.

<Configuration Example 2 of Printing Apparatus>
Next, a printer (printing apparatus) 211 having a flat platen will be described as a configuration example 2 of a printing apparatus including the laser scanner device 7 to which the drive control systems 1A, 1B, and 1C described above are applied.

FIG. 10 is a front view schematically showing a configuration example 2 of the printing apparatus including the laser scanner device 7 to which the stepping motor drive control system 1 (1A, 1B, 1C) according to the embodiment described above is applied. .
As shown in FIG. 10, the printer (printing apparatus) 211 employs an inkjet system that ejects liquid onto a sheet S as a recording medium from a plurality of recording heads (liquid ejecting heads) as a printing system. The printing process is performed while sequentially feeding one sheet S (web) wound in a roll shape, and the printed sheet S is again wound in a roll shape. Since the sheet S is the same as that of the above-described configuration example 1, description thereof is omitted here. In the present embodiment, an XYZ orthogonal coordinate system is set in which the width direction of the sheet S in the horizontal plane is the X direction, the conveyance direction of the sheet S orthogonal to the X direction is the Y direction, and the vertical direction is the Z direction.

  The printer 211 includes a main body unit 214 that executes a printing process, a feeding unit 213 that supplies the sheet S to the main body unit 214, and a winding unit 215 that winds up the sheet S discharged from the main body unit 214. Yes.

  The main body 214 includes a main body case 216, the feeding section 213 is installed on the upstream side (−Y side) of the main body case 216 in the transport direction, and the winding section 215 is downstream in the transport direction of the main body case 216 (+ Y side). Is installed. The feed unit 213 is connected to the medium supply unit 216a provided on the side wall 216A on the upstream side (-Y side) of the main body case 216, while the medium provided on the side wall 216B on the downstream side (+ Y side) in the transport direction. A winding unit 215 is connected to the discharge unit 216b.

  The feeding unit 213 includes a support plate 217 attached to a lower portion of the side wall 216A of the main body case 216, a winding shaft 218 provided on the support plate 217, and a feeding table 219 connected to the medium supply unit 216a of the main body case 216. , And a relay roller 220 provided at the tip of the feeding table 219. A sheet S wound around the winding shaft 218 in a roll shape is rotatably supported. The sheet S fed out from the roll (winding shaft 218) is wound around the relay roller 220, rolled onto the upper surface of the feeding table 219, and conveyed to the medium supply unit 216a along the upper surface of the feeding table 219.

  The winding unit 215 includes a winding frame 241, a relay roller 242 and a winding drive shaft 243 provided on the winding frame 241. The sheet S discharged from the medium discharge unit 216b is wound around the relay roller 242 and guided to the winding drive shaft 243, and is wound into a roll shape by the rotational drive of the winding drive shaft 243.

  A plate-like base 221 is horizontally installed in the main body case 216 of the main body 214, and the main body case 216 is partitioned into two spaces by the base 221. A space above the base 221 is a printing chamber 222 that performs a printing process on the sheet S. The printing chamber 222 includes a platen (medium support unit) 228 fixed on the base 221, a recording head (recording processing unit) 236 provided above the platen 228, and a carriage 235 a that supports the recording head 236. Two guide shafts 235 that support the carriage 235a, a valve unit 237, and a laser scanner device 7 that cuts out the sheet S are provided. The two guide shafts 235 are arranged in parallel with each other along the transport direction (Y direction), and the carriage 235a is configured to reciprocate in the transport direction.

  The platen 228 includes a box-shaped support base 228a whose upper surface is open, and a mounting plate 228b attached to the opening of the support base 228a. The support base 228a is fixed on the base 221. The interior surrounded by the support base 228a and the mounting plate 228b is a negative pressure chamber. The sheet S is placed on the support surface of the placement plate 228b (the medium support surface that is the upper surface in the + X axis direction in the drawing).

  The mounting plate 228b has a number of suction holes (not shown) penetrating the mounting plate 228b in the thickness direction, and is formed on one side wall of the support base 228a (in this embodiment, the side wall on the −Y side). An exhaust port (not shown) penetrating the side wall is formed. A suction fan (not shown) is connected to the exhaust port. By the suction of the suction fan, a suction force is applied to the sheet S through a large number of suction holes, and the sheet S can be attracted to the support surface of the mounting plate 228b and flattened.

  A supply conveyance system including a plurality of conveyance rollers is provided on the upstream side (−Y side) of the platen 228 in the conveyance direction. The supply conveyance system is provided in the vicinity of the first conveyance roller pair 225 provided in the printing chamber 222 in the vicinity of the platen 228, the relay roller 224 provided in the lower space of the main body case 216, and the medium supply unit 216a. Relay roller 223. The first transport roller pair 225 includes a first drive roller 225a and a first driven roller 225b.

  In the supply conveyance system, the sheet S carried into the main body case 216 from the feeding unit 213 via the medium supply unit 216a is wound from below on the first drive roller 225a via the relay rollers 223 and 224, and Nipped by one transport roller pair 225. Then, with the rotation of the first drive roller 225a driven by a first transport motor (not shown), the first transport roller pair 225 is fed horizontally onto the support surface of the platen 228.

  On the other hand, a discharge conveyance system including a plurality of conveyance rollers is provided on the downstream side (+ Y side) of the platen 228 in the conveyance direction. The discharge conveyance system includes a second conveyance roller pair 233 provided on the side opposite to the first conveyance roller pair 225 with respect to the platen 228, a reverse roller 238 and a relay roller 239 provided in a space on the lower side of the main body case 216. And a feed roller 240 provided in the vicinity of the medium discharge portion 216b.

  The second transport roller pair 233 includes a second drive roller 233a and a second driven roller 233b. Since the second driven roller 233b is disposed on the printing surface side (upper surface side) of the sheet S, the edge portion in the width direction (X direction) of the sheet S is used in order to avoid damage to the printed image. It is good also as a structure which contact | abuts only to.

  In the discharge conveyance system, the second conveyance roller pair 233 having nipped the sheet S carries out the sheet S from the platen 228 along with the rotation of the second drive roller 233a driven by a second conveyance motor (not shown). The sheet S fed out from the second transport roller pair 233 is transported to the feeding roller 240 via the reverse roller 238 and the relay roller 239, and is fed out to the winding unit 215 via the medium discharge unit 216b by the feeding roller 240. .

  In the case of this embodiment, the plurality of recording heads 236 are attached to the carriage 235a via head attachment plates (not shown). The head mounting plate is configured to be movable in the medium width direction (X direction) on the carriage 235a. The position of the head mounting plate can be controlled. By moving the head mounting plate in the medium width direction (X direction), the plurality of recording heads 236 can be integrated into a line feed operation. The recording heads 236 are arranged on the head mounting plate so as to be arranged at regular intervals in the medium width direction so that the adjacent recording heads 236 are alternately arranged in two stages in the medium conveyance direction (Y direction).

  The plurality of recording heads 236 are connected to the valve unit 237 via ink supply tubes (not shown). The valve unit 237 is provided on the inner wall of the main body case 216 in the printing chamber 222 and is connected to an ink tank (ink storage unit) (not shown). The valve unit 237 supplies the ink supplied from the ink tank to the recording head 236 while temporarily storing the ink.

  On the lower surface (nozzle formation surface) of the recording head 236, a large number of ink discharge nozzles are arranged in the medium width direction (X direction). The recording head 236 performs printing by ejecting ink supplied from the valve unit 237 from the ink discharge nozzle toward the sheet S on the platen 228. Note that the recording head 236 may have a plurality of ink ejection nozzle arrays. In this case, when performing color printing of 4 colors or 6 colors, if ink is assigned to each ink discharge nozzle row for each color type, a single recording head 236 can eject a plurality of colors of ink. Become.

  A laser scanner device 7 is provided in the main body case 216 of the main body 214. The laser scanner device 7 is provided on the downstream side (Y side) from the ink ejection position described above. The laser scanner device 7 is provided so as to partially cut out or divide the sheet S on which an image is recorded. Since the configuration of the laser scanner device 7 is the same as the configuration described above (see FIG. 7), detailed description thereof is omitted.

  The laser light LA oscillated by the laser oscillator 401 of the laser scanner device 7 is controlled by the first lens 403 whose position is controlled by the drive control system 1A and the rotation position (angle) of which is controlled by the drive control systems 1B and 1C. The sheet S, which is a workpiece, is irradiated through the first mirror 407, the second mirror 409, and the like. Thus, the irradiation position of the laser light LA irradiated onto the sheet S is controlled by the drive control systems 1A, 1B, and 1C, and the laser light LA can be irradiated onto a desired position on the sheet S. In the sheet S, a portion irradiated with the laser light LA is melted and cut out or partially cut.

  In addition, the part cut out or divided by the laser beam LA may be discharged and stored in a storage unit by a discharge unit (not shown) after fusing, or wound while being held on the base material by the adhesive of the sheet S. It may be conveyed to the part 215.

  Further, in the present configuration, the example in which the sheet S is cut out or divided after the image by ink ejection is recorded by fusing using the laser scanner device 7 is not limited thereto, but the image is recorded. A configuration in which a desired position is cut out or divided may be used.

  According to the printer (printing apparatus) 211 described above, the rotational position (rotational angle) of the motor M in the drive control systems 1A, 1B, and 1C for controlling the irradiation position of the laser beam LA can be controlled with high accuracy. . Therefore, the printer (printing apparatus) 211 can cut out and divide the sheet S with high positional accuracy.

  According to the present embodiment, both high accuracy and low cost can be achieved.

<Modification>
(1) In the above embodiment, the center voltage V _BC of the center voltage V _AC and the second detection signal S _B of the first detection signal S _A is measured for each individual prior to shipment of the drive control system 1 storage unit However, the method for obtaining the center voltage V _AC and the center voltage V _BC is not limited to the above example. For example, at the start of operation of the drive control system 1 by rotating the motor M, stores center voltage V _BC of the center voltage V _AC and the second detection signal S _B of the first detection signal S _A measured in the storage unit 25 The structure which performs can also be employ | adopted suitably.

(2) In the above-described embodiment, the configuration in which the ratio of the difference value between the absolute value | ΔV _A | and the absolute value | ΔV _B | is calculated as the addition / subtraction ratio index W is exemplified. The method for calculating the index W is not limited to the above examples. For example, the absolute value of the first difference value ΔV _A | ΔV _A | and the absolute value of the second difference value [Delta] V _B | ratio of the difference values between the two with respect to the sum of _{(| | ΔV B ΔV A |} - | ΔV B |) / (| ΔV _A | + | ΔV _B |) is multiplied by a predetermined constant to calculate the adjustment ratio index W, or the adjustment ratio index W is calculated by a predetermined calculation using the ratio as a variable. Configurations can also be employed. As will be appreciated from the above description, the ratio calculation unit 24, the absolute value of the first difference value ΔV _A | ΔV _B | | absolute value of the second difference value ΔV _B | ΔV _A difference value between the first is generically represented as an element for calculating the acceleration ratio indicators W corresponding to the ratio of the sum of | [Delta] V _a | | and the absolute value of the second difference value ΔV _B | ΔV _B absolute value of the difference value [Delta] V _a .

(3) In the above-described embodiment, voltage signals (first detection signal S _A , second detection signal S _B) corresponding to the amount of received light using the optical rotary encoder 10 including the light emitting unit 12 and the light receiving unit 18. However, the configuration for generating the first detection signal S _A and the second detection signal S _B having a phase difference is not limited to the above example. For example, the first detection signal S _A and the second detection signal S _B may be generated using a light reflection encoder, a resolver detector, or the like. In the case of a light reflection encoder, the above-mentioned “slit” does not need to penetrate because it is a position (mark) that is low reflection or non-reflection.

  The robot, encoder, encoder adjustment method, and printing apparatus of the present invention have been described based on the illustrated embodiment. However, the present invention is not limited to this, and the configuration of each unit has the same function. Can be replaced with any structure having Moreover, other arbitrary components may be added.

  Moreover, in the said embodiment, although the 1st surface which is a plane (surface) to which a robot (base) is fixed is a plane (surface) parallel to a horizontal surface, in this invention, it is not limited to this, For example, Further, it may be a horizontal plane, a plane (plane) inclined with respect to the vertical plane, or a plane (plane) parallel to the vertical plane. That is, the rotation axis may be inclined with respect to the vertical direction or the horizontal direction, or may be parallel to the horizontal direction.

  The robot of the present invention is not limited to a vertical articulated robot, and the same effect can be obtained with a horizontal articulated robot, a parallel link robot, a double arm robot, or the like. The robot of the present invention is not limited to a 6-axis robot, and the same effect can be obtained with a robot with 7 or more axes or a robot with 5 or less axes. The robot of the present invention is not limited to an arm type robot (robot arm) as long as it has an arm, and may be another type of robot, for example, a legged walking (running) robot.

  DESCRIPTION OF SYMBOLS 1,1A, 1B, 1C ... Drive control system (drive device) 2 ... Reference encoder 7 ... Laser scanner device 8 ... Robot 10 ... Rotary encoder (encoder) 12 ... Light emission part (detection part) 14 ... Disc (detection part) 16 ... Slit 18, 18A, 18B ... Light receiving part (detection part) 20 ... Position detection device 22 ... Difference detection part (conversion part) 24 ... Ratio calculation part (conversion part) 25 ... Storage part 26 ... Determination part 28 ... Position identification part (Control unit) 30 ... Control circuit 32 ... Terminal unit 34 ... Counter 40 ... Drive circuit 81 ... Base 82A, 82B, 82C, 82D ... Arm 86 ... List 100 ... Image recording device 102 ... Feeding unit 103 ... Processing unit 104 ... Winding unit 115 ... head unit 120 ... feeding shaft 121 ... driven roller 130 ... Platen drum 130s ... Drum shaft 131,132,133,134 ... Driving roller 140 ... Winding shaft 141 ... Driving roller 151 ... Recording head 161 ... First UV light source 162 ... Second UV light source 211 ... Printer (printing device) 213 ... Feeding Reference numeral 214 ... Body part 215 ... Winding part 216 ... Body case 216A, 216B ... Side wall 216a ... Medium supply part 216b ... Medium discharge part 217 ... Support plate 218 ... Winding shaft 219 ... Feeding table 220 ... Relay roller 221 ... Base 222 ... printing chambers 223, 224 ... relay roller 225 ... first transport roller pair 225a ... first drive roller 225b ... first driven roller 228 ... platen 228a ... support base 228b ... mounting plate 233 ... second transport roller pair 233a ... first 2 drive low 233b ... second driven roller 235 ... guide shaft 235a ... carriage 236 ... recording head 237 ... valve unit 238 ... reversing roller 239 ... relay roller 240 ... feed roller 241 ... winding frame 242 ... relay roller 243 ... winding drive shaft 401 ... laser oscillator 403 ... first lens 405 ... second lens 407 ... first mirror 409 ... second mirror 411, 413 ... conveying body 415 ... work piece 500 ... work line.

Claims (7)

A first arm;
A second arm arranged to be rotatable with respect to the first arm;
A driving device that is disposed on the first arm, includes an encoder, and transmits a driving force that rotates relative to the first arm to the second arm;
Have
The encoder is
A detection unit that detects a rotation state and outputs an analog signal;
A conversion unit that converts the analog signal from the detection unit into a digital signal;
A terminal for inputting an external reference signal;
An output signal per rotation is calculated from the digital signal output from the conversion unit, and a deviation between the output signal and the reference signal input from the terminal unit is obtained, and correction data for the output signal is obtained. A control unit for generating
A robot characterized by comprising:   The robot according to claim 1, wherein the encoder includes a storage unit that stores the correction data.   The robot according to claim 1, wherein the reference signal is a phase counting signal from a reference encoder connected to the terminal unit.   The robot according to claim 1, wherein the detection unit includes a light receiving element. A detection unit that detects a rotation state and outputs an analog signal;
A conversion unit that converts the analog signal from the detection unit into a digital signal;
A terminal for inputting an external reference signal;
An output signal per rotation is calculated from the digital signal output from the conversion unit, and a deviation between the output signal and the reference signal input from the terminal unit is obtained, and correction data for the output signal is obtained. A control unit for generating
The encoder characterized by having. A method for adjusting an encoder of a motor having the encoder according to claim 5,
Attaching a reference encoder to the motor;
Connecting the reference encoder to the terminal portion of the encoder;
Connecting the motor and the encoder to a PC;
Outputting a drive signal from the PC to the motor;
Inputting the signal of the reference encoder to the encoder;
Generating the correction data with the encoder;
A method for adjusting an encoder, comprising:   A printing apparatus comprising the encoder according to claim 5.

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